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    THREE DIMENSIONAL ROBOTIC BIOPRINTER
    14.
    发明公开
    THREE DIMENSIONAL ROBOTIC BIOPRINTER 审中-公开

    公开(公告)号：US20240156492A1

    公开(公告)日：2024-05-16

    申请号：US18393296

    申请日：2023-12-21

    Applicant: Mazor Robotics Ltd.

    Inventor： Moshe Shoham

    IPC: A61B17/34 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B33Y80/00

    CPC classification number: A61B17/3468 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  B33Y80/00 ,  A61B2034/107

    Abstract: A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.

    Systems, methods, and devices for multiple exposures imaging
    16.
    发明授权
    Systems, methods, and devices for multiple exposures imaging 有权

    公开(公告)号：US11925497B2

    公开(公告)日：2024-03-12

    申请号：US17464445

    申请日：2021-09-01

    Applicant: Mazor Robotics Ltd.

    Inventor： Noam Weiss

    IPC: G06T5/50 ,  A61B6/00 ,  G06T5/00

    CPC classification number: A61B6/52 ,  A61B6/5241 ,  G06T5/007 ,  G06T5/50 ,  G06T2207/10116

    Abstract: Systems, methods, and devices for capturing a single image with multiple exposures is provided. An imaging device may be provided comprising a source configured to emit a wave for a time period and a detector configured to receive a signal indicative of the wave. A wave may be emitted for a time period and a signal may be received indicative of the emitted wave. A first image dataset may be saved with a first timestamp referencing a first time within the time period. A second image dataset may be saved with a second timestamp referencing a second time within the time period. The second time may occur after the first time.

    MINIMALLY INVASIVE INTERVERTEBRAL ROD INSERTION
    18.
    发明公开
    MINIMALLY INVASIVE INTERVERTEBRAL ROD INSERTION 审中-公开

    公开(公告)号：US20230414289A1

    公开(公告)日：2023-12-28

    申请号：US18244845

    申请日：2023-09-11

    Applicant: Mazor Robotics Ltd.

    Inventor： Edo ZUCKER ,  Moshe SHOHAM ,  Yuval CHEN

    IPC: A61B34/10 ,  A61B17/70 ,  A61B34/20

    CPC classification number: A61B34/10 ,  A61B17/7089 ,  A61B17/70 ,  A61B34/20 ,  A61B17/7077 ,  A61B17/7013 ,  A61B2017/568

    Abstract: A system and method for the minimally invasive insertion of an intervertebral rod into the vertebrae of a subject, according to a preoperative surgical plan also defining positions for the insertion of rod clamping screws into the vertebrae. The rod shape for connecting the heads of the screws is calculated, and a path planning algorithm used to determine whether the distal end of the rod can be threaded through the screw heads by longitudinal and rotational manipulation of the proximal end of the rod. If so, instructions are provided for forming that rod shape and for the robotic insertion of the screw holes and the rod. If not, either or both of the screw positions and the rod shape are adjusted, to moderate the bends in the rods, until insertion becomes possible. The insertion can be performed robotically, or, if a navigation tracking system is added, manually.

    SYSTEMS AND METHODS FOR HYBRID MOTION PLANNING
    19.
    发明公开
    SYSTEMS AND METHODS FOR HYBRID MOTION PLANNING 审中-公开

    公开(公告)号：US20230293244A1

    公开(公告)日：2023-09-21

    申请号：US18169069

    申请日：2023-02-14

    Applicant: Mazor Robotics Ltd.

    Inventor： Avraham Turgeman ,  Yaniv Ben Zriham ,  Ben Yosef Hai Ezair ,  Eliyahu Zehavi ,  Moshe Shoham

    IPC: A61B34/20 ,  A61B34/32 ,  A61B34/00

    CPC classification number: A61B34/20 ,  A61B34/32 ,  A61B34/25 ,  A61B2034/2074 ,  A61B2034/254

    Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: move a first robotic arm from a first state to a second state; update, based on the moving of the first robotic arm from the first state to the second state, a first status identifier associated with the first robotic arm in a combination state table, the combination state table associated with the first robotic arm and a second robotic arm; determine, based on the first status identifier and the combination state table, a set of permissive states and a set of non-permissive states for the second robotic arm; and prevent the second robotic arm in a third state from performing one or more actions that interfere with the first robotic arm being in the second state.

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